CN109278693A - Electronic control unit, gateway circuit, security system and environmental sensor element - Google Patents
Electronic control unit, gateway circuit, security system and environmental sensor element Download PDFInfo
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- CN109278693A CN109278693A CN201810804586.5A CN201810804586A CN109278693A CN 109278693 A CN109278693 A CN 109278693A CN 201810804586 A CN201810804586 A CN 201810804586A CN 109278693 A CN109278693 A CN 109278693A
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- 230000007613 environmental effect Effects 0.000 title claims abstract description 69
- 230000004913 activation Effects 0.000 claims abstract description 44
- 238000012545 processing Methods 0.000 claims abstract description 35
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- 230000014509 gene expression Effects 0.000 claims description 44
- 238000004891 communication Methods 0.000 claims description 33
- 230000002441 reversible effect Effects 0.000 claims description 25
- 230000002427 irreversible effect Effects 0.000 claims description 18
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- 230000003213 activating effect Effects 0.000 claims description 8
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Traffic Control Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Disclose a kind of electronic control unit (100), gateway circuit, security system and environmental sensor element.The electronic control unit (100) includes: signal input circuit (102), is configured to from radar sensor or from laser radar sensor receiving sensor signal；And processing circuit (104), it is configured to indicate to determine first condition based on the first of sensor signal, and generate activation signal (106) in response to first condition.
Description
Technical field
Present embodiment is related to electronic control unit, the gateway circuit that may be coupled to air bag electronic control unit and use
The Vehicle security system of environmental sensor.
Background technique
The vehicles such as automobile or truck generally include shock transducer, to determine whether impact object or object are vehicle
It is no to hit vehicle and cause safety measure then for example to protect in vehicle by flicking for initiation one or more air bags
Personnel.Common sensor (such as pressure sensor or inertial sensor in pressure chamber) itself to shock-sensitive, i.e., it
When impact has occurred and that provide sensor response.In other words, the condition for causing safety measure is impact itself.For commenting
The electronic control unit (ECU) for estimating sensor signal needs to assess sensor signal with low-down time delay, to cause in time
Safety measure, so that safety measure will not be executed too late still to protect the passenger in vehicle.Since time delay is very low, so usually
It is required that the assessment algorithm of sensor signal is simple, to ensure to execute in time.Therefore, because available processing limited time, so
Decision for taking decision or the safety measure selection of any safety measure may not be optimal.In addition, if impact is only
It can be detected once in its generation, then the selection of the safety measure to be taken may be limited.It may finally will not take
Some measures for improving passenger safety cannot come into force after having occurred and that impact because their execution takes too long.
Therefore, having improved space is seemed for legacy system.
Summary of the invention
Some embodiments of electronic control unit include: signal input circuit, are configured to from radar (radio detection
And ranging) sensor or from laser radar (light detection and ranging) sensor receiving sensor signal；And processing circuit, matched
Be set to indicates to determine first condition based on the first of sensor signal.Processing circuit generates activation signal in response to first condition.
It can can be in sight from the electronic control unit (ECU) of radar sensor or laser radar sensor receiving sensor signal
Upcoming impact is determined before the impact of arrival is actually occurred.
Radar sensor or laser radar sensor provide the information about vehicle environmental, so as in the practical hair of impact
It is determined before raw or prediction is impacted.Therefore, having time indicates to determine first condition from the first of sensor signal.It will be understood that
It is that, using the shock transducer of the prior art, this is before impact impossible to the determination of first condition.
If first condition is satisfied, activation signal can be issued.Activation signal can cause specific expected impact institute
The safety measure needed, to prevent from being expected impacting or at least mitigating its consequence.
Before impact that is expected or estimating the available time can be used for causing except conventional available safety measure it
Outer safety measure.Using the first condition identified before impact, need at present the more time execute safety measure also this
Within the scope of application.According to some embodiments, activation signal can not only cause the irreversible safety measure (bullet of such as air bag
Open) activation, and the activation of reversible safety measure can be caused.Reversible safety measure may have the longer execution time, have
Conducive to may be inverted during its execution safety measure or stop safety measure.That is, the embodiment party of electronic control unit
Formula can decide whether to generate reversible activation signal according to first condition to activate reversible safety measure or generate irreversible activation
Signal is to activate irreversible safety measure.With the combined energy for causing reversible safety measure, irreversible safety measure or both
The safety of Vehicular occupant not only can be improved in power, can also save cost (for example, if according to identified first condition,
The reversible safety measure for not needing subsequent motor vehicle repair is enough to protect passenger).For example, if by upcoming low velocity impact or
Impact with soft object is confirmed as first condition, then the safety belt for tensing Vehicular occupant may be sufficient, and does not have to take
Flick the irreversible safety measure of air bag.
According to some embodiments, reversible activation signal may be configured to cause at least one of following to avoid right
Inside as invading vehicle: the closing of at least one top of car of the closing and vehicle of at least one vehicle window of vehicle.Its
His reversible safety measure includes at least one safety belt for tensing vehicle or at least one seat for adjusting vehicle, to make vehicle
Passenger be in the impact of vehicle or strong decelerative force causes the position of the smallest possible damage to the body of passenger.
It is reversible although the deceleration of vehicle seems to mitigate the damage of upcoming impact according to other embodiment
Activation signal can promote to inhibit the emergency braking to vehicle up to the time of specific quantity.In the case where the environment for knowing vehicle,
Even if if a specific impact can be avoided by inhibiting emergency braking, situation --- the decision is to receive another punching
The higher speed for hitting situation is cost, then ECU can determine so that threatening can be minimized first to the whole of Vehicular occupant
Condition.
Particularly, it is also contemplated that the different distortion characteristic of vehicle during decision.For example, having direct impact to passenger
Before, side impact there are lesser deformation space or is hitting vehicle cab at the position of deformation space.With this phase
Right, for frontal impact, before having directly impact to passenger, the space of the driver's cabin deformation of vehicle is bigger.Therefore, if
ECU determine upcoming side impact and upcoming frontal impact hereafter as first condition, then long enough
It may be suitable for inhibiting emergency braking.Inhibit emergency braking to can permit vehicle and leave the region that side impact will occur,
This can the significant safety for improving passenger.Even if the speed that frontal impact then occurs may be than the routine under emergency braking
Situation is higher, but may actually reduce to whole threaten of passenger.
Other than the reversible activation signal for causing reversible safety measure or in addition, activation signal, which can be, causes vehicle
The irreversible activation signal of emergency braking and air bag at least one of flicked.
The sensor signal of radar sensor or laser radar sensor may have high-resolution, such as automatic to support
Drive function.For example, can be with high spatial resolution by the sensor signal that radar sensor or laser radar sensor generate
Object is identified with high spectral resolution, to distinguish small alternate position spike and speed difference.For example, if sensor signal is also used to all
It suitable drive the automated driving system determined to take dependent on the environment of enough resolution reconstruction vehicles or advanced drives
The person's of sailing auxiliary system (ADAS), then high resolution sensor signal can may have been used in the system of configured in this way vehicle.
Sensor signal can exist with high-resolution, so as to determine for example to need what go to action to avoid touching or impact
Object.Same (high-resolution) sensor signal can be used to avoid leaving the road.The automatic Pilot decision of even now
Or auxiliary Driving Decision-making may be less urgent, but about whether generating activation signal by electronic control unit to cause safety
The decision of measure may need to carry out with few time delay.Therefore, some embodiments of electronic control unit are optionally gone back
Be configured to generate sensor signal first indicates, can be obtained based on that can sense from radar sensor and/or laser radar
The sensor signal obtained carries out appropriate and time-sensitive processing in processing circuit itself.
According to some embodiments, the first of sensor signal indicates to lead from the second expression of sensor signal
Out, the second of the sensor signal indicates to receive from environmental sensor.According to some embodiments, the first table of sensor signal
Showing can be obtained with being lower than the second resolution ratio indicated of sensor signal.
According to other embodiment, the processing circuit of electronic control unit can also be generated from received sensor signal
The second of sensor signal indicates, and second is indicated to be forwarded to the first output interface of electronic control unit, this is first defeated
Outgoing interface may be coupled to the physical layer of communication system.Thus, electronic control unit can be realized high-speed decision, while use sensing
The other component of device signal can indicate be operated according to the second of sensor signal, and the second of sensor signal indicates can be with
Such as with higher resolution ratio.Therefore, can integrate according to the electronic control unit of embodiment has according to biography
The second of sensor signal indicates in the existing system of the other assemblies operated, without modifying existing component, sensor
Or both.
According to some embodiments, the processing circuit of electronic control unit is configured to from received in sensor signal
Extracting first in second expression indicates.This is able to use electronic control unit for the suitably structure of the other component in vehicle
The sensor signal made, while can be with required time delay operations, the reason is that can extract and therefore generate sensor signal sheet
Required first of body indicates.ECU and its function can also be effortless and be included in existing communication without fringe cost
It in system, such as is included in automated driving system.
According to some embodiments, the second of sensor signal, which indicates to have, indicates higher than the first of sensor signal
Resolution ratio.Although the other component such as automatic Pilot control unit in vehicle can have using the with higher resolution
Two abilities indicated, but the first expression with low resolution can be used so as to make electronics control in electronic control unit
Unit processed realizes required high-speed decision.For example, according to some embodiments, for the sensing data of given time, sensing
The resolution ratio that the first of device signal indicates is in angular resolution (one or both of azimuth or height resolution), the space of covering
It is lower at least one aspect in range or the aspect of relative velocity.
Although some embodiments of electronic control unit, which may be configured to manage at which in circuit, generates sensor letter
Number first indicate and sensor signal second indicates that but other embodiments are implemented as may be coupled to air bag electronics control
The gateway circuit of unit processed.Gateway circuit enables to air bag electronic control unit that can be used together with environmental sensor, example
Such as it is used together with radar sensor or laser radar sensor.For this purpose, may be coupled to the gateway electricity of air bag electronic control unit
The embodiment on road includes: to be configured to from the signal input part end of the environmental sensor receiving sensor signal of vehicle and matched
Being set to indicates the first signal output end for being forwarded to ECU for the first of the sensor signal of environmental sensor.Gateway circuit also wraps
Second signal output end is included, is configured to indicate the second of the sensor signal of environmental sensor to be forwarded to communication system
Physical layer, with the other use for the other component in vehicle or the other component for being otherwise attached to communication system
On the way.
It may be implemented using the gateway circuit according to embodiment by air bag electronic control unit and existing other electricity
Sub-control unit such as automatic Pilot electronic control unit is intentionally combined, this may need the second of sensor signal
It indicates so as to be operated as needed.
According to some embodiments, gateway circuit can be identified based on the label in single sensor message to be received
Sensor message includes that the first expression of sensor signal or the second of sensor signal indicate.This, which can permit, is sensing
Device signal is created as the effective hardware realization for the gateway circuit for having in a series of system of sensor messages.Then, gateway
Circuit can label in identification sensor message just it is enough appropriately respectively to guide the content of sensor message to the
One signal output end or second signal output end are enough.According to some embodiments, gateway circuit is configured to according to logical
Available agreement provides sensor signal in letter system second indicates, to indicate the company of being forwarded to for second by communication system
It is connected to other associated processing entities of gateway.
The other embodiments of gateway circuit are used as the gateway for multiple associated environmental sensors, so that gateway is electric
Road further includes the second signal input terminal for being configured to receive other sensor signal from the second environment sensor of vehicle.This
Outside, the first signal output end of gateway circuit is configured to indicate the first of other sensor signal to be forwarded to air bag ECU.
Similarly, second signal output end is configured to indicate the physics for being forwarded to communication system for the second of other sensor signal
Layer.
According to some embodiments, the environmental sensor element for vehicle that can be cooperated together with ECU includes being matched
It is set to the radar sensor or laser radar sensor for generating the sensor signal of covering visual field.Sensor element is configured to mention
Second of the first expression and sensor signal for sensor signal indicates.Environmental sensor further includes that may be coupled to communication system
The interface of the physical layer of system.Interface is configured to the first expression of sensor signal, the second expression of sensor signal or passes
The first of sensor signal indicates and both the second expression of sensor signal outputs are to physical layer, in ECU and system
Other assemblies or ECU the different of sensor signal are provided and are indicated.It is configured to if environmental sensor element has using one
A or more sensor message carrys out the different interfaces indicated of output sensor signal, then can come via common communication channel
Transmit different expressions.In order to enable subsequent components to identify different expressions, environment in the case where no high analyte works
Specific label is inserted into each sensor message by some embodiments of sensor element, and label indicates each sensor report
Text is first a part indicated of sensor signal or second a part indicated of sensor signal.
Some embodiments of security system for vehicle include: to provide the first environment sensing of the first sensor signal
Device；The second environment sensor of second sensor signal is provided, second environment sensor is loosely coupled to first environment sensing
Device, while the visual field of first environment sensor and second environment sensor at least partly overlaps.In system, gateway circuit packet
Include: the first signal output end, be configured to generate the first sensor signal first indicate；And second signal output end, quilt
It is configured to indicate the physical layer for being forwarded to communication system for the second of the first sensor signal.Similarly, the second gateway circuit packet
Include: the first signal output end, be configured to generate the first sensor signal first indicate；And second signal output end, quilt
It is configured to indicate the physical layer for being forwarded to communication system for the second of second sensor signal.Security system further includes air bag ECU,
The first expression based on the first sensor signal, the first expression of second sensor signal or first sensor is configured to believe
Number first indicate the combination indicated with the first of second sensor signal to identify first condition.Air bag ECU is configured to ring
Activation signal should be generated in first condition.Activation signal is configured to cause the execution of safety measure.
Using at least two environmental sensors in security system, the environmental sensor that at least partly overlapping visual field is presented can
To allow to determine the information about observed object, the observed object of information instruction may to the whole of impact of vehicle
Property or time.For example, the first of the first sensor signal indicates that the first combination indicated with second sensor signal can mention
For overlapping the estimation of the moving direction of the object in visual field to part.For example, if first in the first sensor signal indicates
With the first of second sensor signal indicate in indicated and the the first of the first sensor signal after detectable mobile object
The mobile object is recognized in one of first expression of two sensor signals, then can identify the first condition of future shock.
If object cannot be identified in the visual field of one of sensor again in these cases, it follows that object
There is relative movement component at least on the direction vertical with the axis of the position of JA(junction ambient) sensor.For example, if by environment
Sensor is placed on the side of vehicle, then it is just mobile towards the side of vehicle to can be inferred that mobile object, and can determine
The condition of upcoming side impact.
Detailed description of the invention
Only by way of embodiment and it is described with reference to some embodiment party of device and/or method below
Formula, in which:
Fig. 1 shows the embodiment for being configured to handle the electronic control unit of sensor signal；
Fig. 2 shows another realities at least two electronic control units indicated for being configured to handle sensor signal
Apply mode；
Fig. 3 shows the embodiment of the expression of the sensor signal provided by environment radar sensor array；
Fig. 4 shows the stream of the processing in the embodiment of electronic control unit, gateway circuit or environmental sensor element
Cheng Tu；
Fig. 5 shows the embodiment of the gateway circuit for environmental sensor；
Fig. 6 shows the another embodiment of the gateway circuit at least two environmental sensors；
Fig. 7 shows the embodiment of Vehicle security system；And
Fig. 8 schematically shows the embodiment of environmental sensor element.
Specific embodiment
Various embodiments are described more fully with now with reference to the attached drawing that some embodiments are shown.Attached
In figure, for the sake of clarity, thickness of line, layer, and or area may be exaggerated.
Therefore, although other embodiments can have various modifications and alternative form, some specific embodiment parties of the invention
Formula is shown in the accompanying drawings and then will be described in more detail.However, other embodiments are not limited to be retouched by the detailed description
The concrete form stated.Other embodiments can cover all modifications fallen within the scope of the disclosure, equivalent and replacement.
In the description of entire attached drawing, identical appended drawing reference indicates the same or similar element, and when being compared to each other, they can phase
It is realized with ground or in the form of modification, while the same or similar function being provided.
It will be appreciated that these elements can directly connect when element is referred to as " being connected to " or " being coupled to " another element
It connects or couples or coupled via one or more intermediary elements.If combining two elements A and B using "or", answer
It is interpreted as disclosing all possible combination, i.e., only A, only B and A and B.Substitution wording for like combinations is " in A and B
At least one ".This is equally applicable to the combination of more than two element.
Other embodiments are not intended to be limited to for describing the term of specific embodiment herein.No matter when using such as
The singulars such as " one (a) ", " one (an) " and " being somebody's turn to do (the) ", then will only discrete component not be defined as explicitly or implicitly by force
Property processed, multiple element can be used also to realize identical function in other embodiments.Similarly, when function is then described
To use multiple element come when realizing, discrete component or processing entities are can be used to realize identical function in other embodiments
Energy.It will also be understood that the terms "include", "comprise", " containing " and/or " having " indicate when in use stated feature, entirety,
Step, operation, process, movement, the presence of element and/or component, but be not excluded for other one or more features, entirety,
Step, operation, process, movement, the presence or addition of component, assembly unit and/or any combination thereof.
Fig. 1 schematically shows the embodiment of electronic control unit 100.Electronic control unit 100 includes that signal is defeated
Enter circuit 102, is configured to swashing for the environmental sensor 110 from radar sensor or in the security system as vehicle 120
Optical radar sensor receiving sensor signal.Vehicle 120 and environmental sensor 110 are shown exclusively for the purposes of illustration.Signal is defeated
Entering circuit 102 can connect to random communication medium, makes it possible to receiving sensor signal and support can be with specific embodiment
Any agreement for being used together of communication media.For example, sensor signal can be at signal circuit 102 as a series of independent
Sensor message be received.Random communication protocol can be used (such as using the specific communication protocols of sensor in sensor signal
View, such as unilateral nibble transmit one of (SENT) or short PWM code (SPC)) it receives.Other examples of allowed protocol are control
The bus protocols such as device Local Area Network (CAN), FlexRay, local interconnection network (LIN) or Ethernet.
Electronic control unit 100 further includes processing circuit 104.First expression of the processing circuit 104 based on sensor signal
It determines first condition, and generates activation signal 106 in response to first condition.It can choose or create the first table of sensor signal
Show with the processing capacity of adaptation processing circuit 104 and determine the pot life for the first condition that processing circuit is being searched for.
It should be appreciated that radar sensor or laser radar sensor provide the information of the environment about vehicle, so that can
Impact is determined or predicted before impact actually occurs, at least provide the appearance and expected impact in first condition
Between additional time budget.In fact, as the case may be, it might even be possible to prevent expected impact.
Additional time budget can also be used for facilitating except conventional available safety measure (such as flicks air bag or causes urgent
Braking) except safety measure, since it is desired that the safety measure that executes of more time is at present also within the scope of application.According to
Some embodiments, activation signal 106 can not only cause the activation of irreversible safety measure, such as flick air bag or cause urgent
Braking, but also reversible safety measure can be activated.The embodiment of electronic control unit 100 can be determined according to first condition
It generates for activating the reversible activation signal of reversible safety measure still to generate for activating the irreversible of irreversible safety measure
Activation signal.
The example of reversible safety measure is (non exhaustive) at least one window for closing vehicle, at least one vehicle for closing vehicle
Top part, at least one safety belt for being tensioned vehicle, at least one seat for adjusting vehicle or the urgent system for inhibiting vehicle
Dynamic, this will be discussed in further detail below.
A kind of particularly attractive mode for determining first condition is using neural network.By suitably trained nerve
Network has the ability that complicated analysis is executed with low time delay and high reliability.Therefore, if using nerve in processing circuit 104
Network can then be analyzed with required low time delay from radar or laser radar in the embodiment in electronic control unit
Multiple sensor signals of sensor.
In the vehicle with automatic Pilot or ADAS function, multiple environmental sensors, such as radar may be had existed
Sensor, laser radar sensor or camera sensor.Under normal conditions, the signal of these environmental sensors by ADAS system with
Than being used for such as traditional ECU of gas-bag system bigger resource is handled.Therefore, environmental sensor can be by electronics
Control unit 100 is unable to the expression of proper treatment to provide sensor signal.For example, the sensor letter provided in those systems
Number second indicate to can have the first higher resolution ratio of resolution ratio indicated than being possibly used for sensor signal.However,
The embodiment of air bag ECU provides or generates the first expression of the sensor signal with lower resolution ratio, so that air bag ECU
Also the data of existing environmental sensor are capable of handling.Therefore, the embodiment of electronic control unit 100 is added to existing system
Environmental sensor and other existing ECU are had no need to change in system.The embodiment of addition air bag ECU can also allow for changing existing
Some components or its software, without then modifying added air bag ECU, because of the low resolution table in air bag ECU
The generation shown is independently of existing component.This may be of special interest, because the modification of air bag ECU or its software will be with subsequent
Verification process be cost, wherein to prove that the software of air bag ECU does not have failure.
Fig. 2 shows an embodiments of electronic control unit 200, which can be to for example
Existing automated driving system almost without any change in the case where included.Electronic control unit 200, which can add, to be located in
Manage the sensor signal of already existing environmental sensor.Similar to the embodiment of Fig. 1, electronic control unit 200 includes letter
Number input circuit 202, is configured to from 204 receiving sensor of radar sensor or laser radar sensor and processing circuit
Signal 201 indicates that (also referred to as the first sensor signal indicates 205a or the first table to 205a to use the first of sensor signal
Show 205a) determine first condition.Processing circuit 204 is further configured to generate activation signal 206 in response to first condition.Into one
Step refers to the embodiment of Fig. 2, and the second expression 205b that processing circuit 204 is further configured to generate sensor signal (is also claimed
Indicate that 205b or second indicates 205b for second sensor signal).Processing circuit 204 is further configured to the of sensor signal
Two expression 205b are forwarded to the first output interface 210 of the physical layer that may be coupled to communication system.
For example, if electronic control unit 200 is supported at its signal input circuit 202 and its first output interface 210
The agreement used in automated driving system, then electronic control unit 200 is inserted into automatic Pilot ECU and associated ring
Also to cause safety measure using environmental sensor signals between the sensor of border, without further adapting to automatic Pilot system
System.For this purpose, the first output interface 210 can support any agreement, such as such as CAN, FlexRay or Ethernet.
The electronic control unit 200 of other embodiments can be believed from two or more environmental sensor receiving sensors
Number.In such an embodiment, it is another to be configured to receive at least one from the second environment sensor of vehicle for input circuit 202
Outer sensor signal.Similarly, then the first output interface 210 is further configured at least forward other sensor signal
First indicates.
In some applications, it may need for the second expression 205b of the sensor signal of automatic Pilot ECU than being used for
The first of the sensor signal of electronic control unit 200 indicates the higher resolution ratio of 205a, so that needing the reduction of processing circuit 204
The second of sensor signal indicates the resolution ratio of 205b or indicates to extract sensor letter in 205b from the second of sensor signal
Number first indicate 205a.
Then (believe as its sensor with reference to the expression of the data provided by radar or laser radar sensor in Fig. 3
Number), to illustrate how to realize the particular example that resolution ratio reduces by low calculation amount.As what is generated by single sensor
One particular example of sensor signal, there are three dimensions for the tool of radar data cube 300 shown in Fig. 3.First dimension 302
Indicate the distance for the object for promoting the radar signal sent by radar sensor to reflect.Second dimension, 304 indication sensor
Reception channel, generally include receiving antenna array, each receiving antenna corresponds to a reception channel.Third dimension 306
Relative velocity between indication sensor and the object of radar signal reflected.Each of three-dimensional cube shown in Fig. 3
Complex value description associated or signal with the display coefficient of signal power and the first dimension 302, the second dimension 304 and the third dimension
By the intensity of the echo of the associated radar signal of parameter set represented by section in degree 306.
For example, for continuous-wave radar system, reflective distance by current transmission radar signal and currently received reflection
Difference on the frequency between radar signal determines.If being assessed the signal strength of each difference on the frequency by means of Fourier analysis, reflect
Intensity it is proportional to the fourier coefficient found for difference on the frequency.Therefore, the magnitude of coefficient includes the information about distance, and
The size of coefficient provides the information of the size about reflective object.Letter about the relative velocity between reflective object and sensor
Breath is determined additionally by assessment reflection signal relative to the Doppler frequency shift of transmission signal.In such implementation, with
Each associated coefficient in section can be proportional to the size of identified fourier coefficient.
Sensor signal or the resolution ratio of radar cube 300 are by the grid in all three dimensions 302,304,306
It provides.Reduce sensor signal first indicate 205a resolution ratio the purpose is to reduce the numbers that electronic control unit must be handled
According to amount, to realize quickly processing in the case where the finite computational abilities of given ECU.
Assuming that second expression of the radar cube 300 as sensor signal is provided, it can in various ways and relatively
The resolution ratio of expression is reduced, in various characteristics to obtain having the first of low resolution to indicate.
In order to reduce the resolution ratio of distance, two or more adjacent intervals can be merged in the first dimension 302.This
Outside, if only wanting to find instruction object to the condition of the impact of vehicle, then can ignore some minimum range or more away from
From without unfavorable, so as to cause the reduction for staying in the data being further processed in processing circuit 204.
For example, relative velocity can be reduced by merging two or more adjacent intervals in third dimension 306
Resolution ratio.For the purpose of conflict prediction, similar to the reflection ignored higher than specific range, can ignore completely and separate sensing
The corresponding project of the relative movement of device, this can also lead to the reduction of mass data.
About the radar cross section for the object for receiving the intracorporal project of radar data cube, resolution ratio can be further decreased.
For continuous wave radar, this can be realized by increasing the threshold value of the Fourier coefficient to be considered in radar data cube.
For collision detection and generate the purpose of safety measure appropriate, will analysis be limited in specific dimensions or more object it is multiple in processing
It may be enough and advantageous in terms of miscellaneous degree.
It, can also be by merging two or more phases in the second dimension 304 based on the radar data cube in Fig. 3
Neighboring interval reduces space and angular resolution.
As previously mentioned, at least one of angular resolution, the spatial dimension of covering and relative velocity, for given
The sensing data (for example, being indicated in Fig. 3 by single radio data cube) at moment, the second of sensor signal indicate
205b can have the higher resolution ratio of resolution ratio needed for indicating 205a than the first of sensor signal.Of course, it is possible to be directed to
These more aspects are primary to reduce resolution ratio.One or the combination in several examples reduced using previously described data, can
The algorithm for the data volume for reducing given radar data cube to realize one or more dimensions shown in Fig. 3.
The low resolution expression of the radar data cube so generated then can be in the electronic control unit with limited processing capacity
Interior (such as in air bag ECU) processing.
The data in the embodiment of electronic control unit that Fig. 4 show reduce and the exemplary process of retransmission method
Figure.It executes data based on radar data cube as shown in Figure 3 to reduce, which is passed as high-resolution
Sensor signal 320 (also referred to as high-resolution indicate 320 or sensor signal second indicate) and receive.To high resolution tables
Show that 320 are handled to generate first of the sensor signal with low resolution and indicate 330, also referred to as low-resolution table
Show 330.Only as an example it is supposed that only (being expressed as distance in Fig. 3 by the range that high resolution sensor signal 320 covers
302) it reduces to the low resolution radar data cube 330 schematically shown, low resolution radar data cube 330 is the
There is reduced size in three-dimensional 302 (referring to Fig. 3).By means of functional block 350 based on low resolution as shown indicate 330 come
Determine the first condition for generating activation signal.If first condition is determined,
Activation signal is then generated in step 370.
Optionally, in step 360, the high-resolution of sensor signal indicates 320 the second table as sensor signal
Show and exported or forwarded, to be further processed by such as automatic Pilot ECU.
Fig. 5, which is shown, may be coupled to the air bag electronic control unit 450 with the input interface 452 for sensor signal
Gateway circuit 400 embodiment.Gateway circuit 400 can be based on environmental sensor (such as radar sensor, laser radar
Sensor or camera sensor) sensor signal utilize air bag electronic control unit 450.Gateway circuit 400 includes signal
Input terminal 402 is configured to the 440 receiving sensor signal of environmental sensor from vehicle.First signal output end 408 is matched
It is set to and the first expression 205a of the sensor signal of environmental sensor 440 is forwarded to air bag ECU450.Second signal output end
410 are configured to for the second expression 205b of the sensor signal of environmental sensor 440 being forwarded to the physics of communication system 470
Layer.Communication system 470 is shown schematically as the bus system of vehicle in Fig. 5.Communication system 470, which can have, to be attached to
Other electronic control unit 472,474 and 476 thereon, allows these to further use the second table of sensor signal
Show 205b, and first that air bag electronic control unit 450 is capable of handling sensor signal indicates 205a.Use gateway circuit 400
It can intentionally realize the connection with the same sensor and identical sensor interface of air bag electronic control unit 450, with
And the connection with other electronic control units 472,474 and 476.Different types of environment is provided using gateway for different applications
Sensing data.According to some embodiments, gateway circuit 400 be configured to according to agreement available in communication system 470 come
There is provided sensor signal second indicates 205b, so that the second expression 205b is forwarded to other electronic control units 472,474
With 476 without modifying them.
The verifying cost again of the software of air bag ECU can be reduced using gateway circuit 400, because in automatic Pilot ECU
Software change can be saved, will appear air bag ECU's else if automatic Pilot ECU is firstly received sensor signal then
The verifying again of software.This is because will prove that the software of air bag ECU does not have failure when changing gas-bag system.
If automatic Pilot ECU be firstly received sensor signal and perform the software in automatic Pilot ECU change, it is possible because
Software after change and the modification for causing sensor signal.Therefore, each change in automatic Pilot ECU requires to verify again
The fault-free function of air bag ECU.On the contrary, can intentionally change the software in automatic Pilot ECU using gateway circuit 400, and
Air bag ECU will not be forced to verify again automatically.
The first of sensor signal indicates that the second of 205a and sensor signal indicates that the forwarding of 205b can be according to gateway
Several alternative solutions in circuit 400 are realized.
According to some embodiments, gateway circuit 400 is configured to two by communication bus receiving sensor signal
It indicates to be used as sensor message.It is understood that complete first indicates that 205a or complete second indicates that 205b usually will
More than one message is needed to be transmitted by communication bus.Therefore, individual sensor message may include the first table
Show that 205a or second indicates a part of 205b.The part of first expression 205a of the sensor signal in sensor message will make
It is marked with the first label, this may be interesting.Similarly, the second table of the sensor signal in sensor message
Show that the second label can be used to mark in the part of 205b.
The embodiment for generating the environmental sensor for the sensor message by bus transfer is shown in Fig. 8, and
And it will later be described.
When receiving the sensor signal for being embodied as sensor message indicates 205a, 205b, gateway circuit 400 is based on single
Label in sensor message identifies whether the sensor message received includes the first of sensor signal indicating 205a
At least part of the second expression 205b of at least part or sensor signal.This can permit is created in sensor signal
For effective hardware realization of the gateway circuit in a series of system with sensor messages, because gateway circuit is only required to
Label in identification sensor message is appropriately respectively guiding the content of sensor message to the first signal output end or
Binary signal output end.More precisely, in such setting, gateway can be comparatively simply achieved, because not needing intelligence
The substantial portion indicated come the sensor signal analyzed in messages.
For example, if carrying out transmission sensor signal using CAN bus, when the CAN message of sensor includes and sensor
When the relevant at least part of the individually expression of signal, the CAN message of sensor can have identical ID- art described above
The example of label in language.Alternatively, when first at least part and sensing indicated that CAN message includes sensor signal
When at least part that the second of device signal indicates, CAN message can have two different ID.For the sake of clarity, one
Sensor message is included within high resolution portion and low resolution part in a sensor message.In this case,
CAN message with different ID can be used as a series of sensor messages and send in any order.
According to other embodiments, gateway circuit 400 may be configured to believe via 402 receiving sensor of signal input part
Number second indicate 205b and first indicate 205a in internal export sensor signal, such as be described in detail in conjunction with Fig. 3.
According to the other embodiments of gateway circuit 400, gateway circuit is further configured to first based on sensor signal
205a is indicated to determine first condition, is arranged with further realizing the safety for causing the electronic control unit 200 for Fig. 2 to be discussed
The function of applying.In such setting, first condition can use less bus traffic and be forwarded to ECU, because in bus
On only to transmit the signaling of first condition be enough.This set of gateway circuit 400 will need more at gateway circuit 400
More intelligence, and identify the workload of first condition and be eliminated from ECU.It is also conceivable that gateway circuit 400 by first condition
It determines and automatic Pilot ECU is sent to by signal, taken into account to be automatically also control loop.
The other embodiments of gateway circuit 400 are used as the gateway of multiple associated environmental sensors.It is shown in FIG. 6
One embodiment of this gateway circuit.Compared with the gateway circuit of Fig. 5, gateway circuit 400 further includes that second signal is defeated
Enter end 404, is configured to receive the other sensor signal of the second environment sensor from vehicle.In addition, gateway is electric
First signal output end 408 on road 400 is configured to the first expression 405a of another sensor signal being transmitted to air bag ECU.
Similarly, second signal output end 410 is configured to the second expression 405b of another sensor signal being forwarded to communication system
Physical layer.Other embodiments can be designed as being used as the gateway for any number of environmental sensor simultaneously.
Fig. 7 schematically shows Function for Automatic Pilot there is also and by the safe of vehicle that center ECU 660 controls
The example of system.For example, center ECU 660 decides whether to change the steering angle or speed of vehicle in automatic Pilot.For this purpose, passing
The resolution ratio of sensor data may need to be enough to create following environmental model: the environmental model enough accurately to avoid with other vehicles
Or environmental objects conflict and enough accurately with determine in view of passenger comfort level and energy efficiency good steering instructions.
Automated driving system often relies on multiple sensors to create the environmental model of vehicle, so as to there is no or almost no
Vehicle is guided or driven in the case where any human-computer interaction.According to embodiment, Function for Automatic Pilot may be limited to certain situations,
For example, highway communication；And in other situations (such as in urban transportation), Function for Automatic Pilot may not exclusively can be achieved
's.Although having lower nevertheless, the high resolution output of environmental sensor may not be used for always automatic Pilot
The first of the sensor signal of resolution ratio indicates continuously to obtain, as the input of air bag ECU 620, to make air bag
The also use environment data of ECU 620, although air bag ECU 620 may compared with the center ECU 660 for Function for Automatic Pilot
With lower processing capacity.Although the high resolution output of environmental sensor may be not used for Function for Automatic Pilot,
The output of environmental sensor for example per second can be updated more than once, the input as air bag ECU.
Security system includes providing the first environment sensor 600 and offer second sensor signal of the first sensor signal
Second environment sensor 602.In the setting for supporting Function for Automatic Pilot, it is expected that observe the entire environment of vehicle, so that
First visual field 601 of first environment sensor 600 and the second visual field 603 of adjacent second environment sensor 602 are at least partly
It is overlapping, so as to cause overlapping visual field 605.Sensor is preferably implemented as so that the first sensor signal and second sensor letter
It number loosely couples.Loosely coupling sensor may not be needed the perfect synchronization for being coupled sensor.Such as it next it will be described for
, the embodiment of air bag ECU is used together to the letter for allowing to be used together at least two environmental sensors with environmental sensor
To determine the condition for causing safety measure, which cannot access breath by conventional method.It should be understood that being used together two
A environmental sensor may bring some limitations to the loose couplings between environmental sensor.Synchronization between two sensors is answered
This is good enough so that the object 650 determined in overlapping visual field 605 by first sensor 602 can also with-not faintly-by the
Two sensors 604 identify in overlapping visual field.In addition, coupling should be good enough to allow to determine the item sought in specific implementation
Part.For example, if the presence of object 650 should be determined with the temporal resolution of 1ms, it appears that loosely couple environmental sensor
So that it comes synchronized with each other to be suitable with the uncertainty less than 1ms.The sensor that similar consideration is suitable for working it
Between relative position accuracy.It is that the relative position of sensor is usually fixed and be known when installation is to vehicle.It can
To be understood such that the sensor so coupled temporally and spatially with enough precision pair loosely coupling sensor
Standard, so as to determine first condition and other interested condition.In other words, the environmental sensor of two loose couplings it
Between time synchronization should be as follows: to two visible objects of sensor (referring for example to the peak FFT discussed Fig. 3 and object)
Detection by the poster processing soft in such as air bag ECU or automatic Pilot ECU using not needing preceding in each environmental sensor
Between carry out time bias.Time bias is for characteristic (distance, angle, the Doppler's speed in reference time and measurement object
Degree) time between target compensation movement method.Loose couplings method is not only allowed for by avoiding calculating relevant to compensation
The time is calculated to save, but also mathematical notation (range, angle, doppler velocity, non-doppler velocity by avoiding detection
Estimation) on generated increased inaccuracy come save calculate the time.
In order to support Function for Automatic Pilot, other sensor 610a to 610d is shown in Fig. 7.Sensor 610a is arrived
610d should be designed and configured into offer to the comprehensive of vehicle environmental with first sensor 600 and second sensor 602 together
Covering.However, subsequent public security system will focus on adjacent sensor 600 and 602, this seems to be enough to elaborate to work as
Some new functions of the embodiment of the air bag ECU 620 used in the setting of use environment sensor.
In order to further utilize the sensing 600 and 602 of loose couplings, the first gateway circuit 606 includes being configured to generate
The first signal output end and be configured to the of the first sensor signal 607 that the first of the first sensor signal 607 indicates
Two indicate the second signal output end for being forwarded to the physical layer of communication system.Communication system is by second table of the first sensor signal
Show and is forwarded to center ECU 660.Similarly, the second gateway circuit 608 includes: the first signal output end, is configured to generate second
The first of sensor signal 609 indicates；And second signal output end, it is configured to via the near physical layer of communication system
The second of two sensor signals indicates to be forwarded to center ECU 660.Air bag ECU 620 is respectively coupled to the first gateway circuit 606
With the first signal output end of the second gateway circuit 608.Via associated gateway circuit 611a ..., 611d, remaining environment
The first expression of the sensor signal 612a ..., 612d of sensor 610a ..., 610d are forwarded to air bag ECU 620, together
When residue environmental sensor 610a ..., 610d sensor signal second indicate to be forwarded to center ECU 660.Air bag
ECU 620 be configured to based on the first sensor signal first indicate, second sensor signal first indicate or first
The first of sensor signal indicates the combination indicated with the first of second sensor signal to identify that instruction object dives to vehicle
In the first condition of impact.In the determined situation of this condition, air bag ECU 620 be further configured to generate activation signal with
Cause safety measure to protect the passenger of vehicle.In other embodiment, can be used can service all environmentally sensitives
The single gateway circuit of device 600,602 and 610a to 610d is similar to gateway circuit shown in fig. 6.Other embodiment can
One or all in gateway circuit to be integrated in air bag ECU 620 or in center ECU 660.
Fig. 7 shows the particular example that can be determined that the condition for leading to execute safety measure.Particularly, shown
Condition be object 650 upcoming side impact, can determine early enough effectively to flick installing side airbag simultaneously
And even cause additional reversible safety measure to protect passenger.The solid line extended in Fig. 7 from first sensor 600 indicates first
The visual field 601 of sensor.The solid line extended from second sensor 602 indicates the visual field 602 of second sensor.It will be noted that
Two sensors 600,602 have overlapping public view field 605.
It is now assumed that by both environmental sensors 600 and 602 of loose couplings in overlapping visual field in first time measurement
Object 650 is determined in 605.However, in subsequent second of measurement, object only by a sensor in two sensors,
Such as it detects in the visual field 601 of first environment sensor 600.As the dotted line arrows, the time point of the measurement at second
Place, object 650 are moved to the second position from the first position of first time measurement --- it is expressed as the circle being drawn in phantom.
This measuring sequence result allows air bag ECU to determine that object 650 is mobile towards the side of vehicle, without high
Calculation amount obtains the conclusion.With depend on the track based on 602 tracking object 650 of first sensor 600 and second sensor
Method (method such as being executed by so-called center ECU 660, being used by automated driving system) compare, this can for example permit
Perhaps the condition for the impact for anticipating object 650 is determined with smaller time delay.
In other words, the first of the first sensor signal indicates and second sensor signal first indicates to provide pair
The estimation of the moving direction of object 650 in the overlapping visual field 605 in part, can be used for causing in safety as shown in Figure 7
Safety measure in the embodiment of system.Specifically, it can indicate that 607 and second sense in the first of the first sensor signal
The first of device signal indicates to be able to detect that after mobile object 650 in 609, based on the first expression in the first sensor signal
607 and second sensor signal first indicate the mobile object identified in one of 609 to identify the phase of instruction side impact
Answer first condition.It can be for example, by continuing the change in location between two measurements to be extrapolated to future, by similar consideration
Time applied to prediction impact.
Fig. 8 is shown schematically for the embodiment of the environmental sensor element 700 of vehicle.Environmental sensor element
700, which are capable of providing the first expression 205a of sensor signal and the second of sensor signal, indicates 205b.Sensor element 700
Including the radar sensor or laser radar sensor as sensor 702.Sensor 700 provides covering substantially by open-angle
The sensor signal for the limited field 704 that Θ is limited.Open-angle Θ can be angle or solid angle in plane.Environmental sensor member
Part 700, which may be configured to provide the first expression 205a of sensor signal and the second of sensor signal, indicates 205b.For
This, sensor element 700 can the logic circuit (being not shown in Fig. 7) for example including CPU or any other type, to generate
One indicates to indicate with second or indicates to be converted to the second expression for first.Environmental sensor element 700 further include may be coupled to it is logical
The interface 706 of the physical layer of letter system.Interface be configured to by the first of sensor signal indicate 205a, sensor signal the
Two indicate that the first of 205b or sensor signal indicates that the second of 205a and sensor signal indicates both 205b output to physics
Layer is indicated with the difference for providing sensor signal for the other assemblies in ECU and system.According to some examples, environment is passed
Sensor component 700 can be configured to export one of three kinds of alternative solutions.If environmental sensor element 700 is configurable,
Then it can be used for different vehicle frames, or can easily realize the different configurations of same vehicle type.According to configuration,
Environmental sensor element 700 may be used as air bag ECU, for automatic Pilot ECU or simultaneously for the defeated of above-mentioned two ECU
Enter.It can thus be avoided using specific ECU for every kind of configuration.
According to some embodiments, environmental sensor element 700, which has, to be configured to using one or more sensors
Message carrys out the interface of the expression of output sensor signal.In order to enable subsequent components in the case where no largely analysis work
Identify different expressions, specific label can be inserted into each sensor message by the interface of environmental sensor element, the mark
Label indicate that each sensor message is the first expression 205a of carry sensors signal or the second table of carry sensors signal
Show 205b.Be inserted into or using with distinguish the different labels indicated can correspond in conjunction with Fig. 5 gateway circuit 400 discuss
Label.
With one or more aspect and feature for referring to and describing together in the embodiment and attached drawing that were previously described in detail
Can also in other embodiments one or more combine, with instead of another embodiment similar features or in order to
This feature is additionally introduced other embodiments.
The description and the appended drawings are merely illustrative the principle of the disclosure.In addition, the main purport of all embodiments described herein
It is being only used for introduction purpose, with the design for helping reader to understand that the principle of the disclosure and inventor promote this field and contribute.
All statements of the principle, aspect and embodiment of present disclosure referred to herein and its specific embodiment are intended to cover
Its equivalent technical solutions.
Including labeled as " device ", " for providing the device of sensor signal ", " for generates transmission signal device ",
Any functional block of " ECU " etc., each element shown in the accompanying drawings in front function can be with such as " signal provides
It the form of specialized hardwares such as person ", " signal processing unit ", " processor ", " controller " and is able to carry out and software appropriate
The form of the hardware of associated software is realized.When provided by a processor, function can be by single application specific processor, single
Shared processor or in which some or all multiple individual processors that can be shared provide.However, term " processing
Device " or " controller " are up to the present not limited to specially be able to carry out the hardware of software, but may include at digital signal
Manage device (DSP) hardware, network processing unit, specific integrated circuit (ASIC), field programmable gate array (FPGA), soft for storing
Read-only memory (ROM), random access memory (RAM) and the nonvolatile memory of part.Other hardware, tradition and/or fixed
System, it is also includable.
Appended claims are incorporated into specific embodiment, wherein each claim can be independently as individual
Embodiment.Although each claim can be independently as individual embodiment, it should be noted that although in right
Dependent claims may relate to the specific combination with other one or more claims in it is required that, but other embodiments
It can also include dependent claims and each other independent claims or subordinate are the combinations of claimed subject matter.At this
Such combination is clearly proposed in text, is not intended to specific combination except non-declarative.In addition, even if claim is not quoted directly solely
Vertical claim, being also intended to the feature of the claim includes in any other independent claims.
Claims (27)
1. a kind of electronic control unit (100；200), comprising:
Signal input circuit (102；202) it, is configured to from radar sensor or laser radar sensor receiving sensor signal；
And
Processing circuit (104；204) it, is configured to indicate based on the first of the sensor signal to determine first condition, and
Activation signal (106) are generated in response to the first condition.
2. electronic control unit (100 according to claim 1；200), wherein the activation signal is in as follows
At least one of:
For activating the reversible activation signal of reversible safety measure, and
For activating the irreversible activation signal of irreversible safety measure.
3. electronic control unit (100 according to claim 2；200), wherein the reversible activation signal is configured to
Cause at least one of following:
At least one window of vehicle is closed,
At least one top of car of the vehicle is closed,
At least one safety belt of the vehicle is tensed,
At least one seat of the vehicle is adjusted, and
Inhibit the emergency braking of the vehicle.
4. electronic control unit (100 according to claim 2；200), wherein the irreversible activation signal is configured
It is at least one of following at causing:
The emergency braking of vehicle, and
Air bag flicks.
5. electronic control unit (100 according to any one of claim 1 to 4；200), wherein the processing circuit
(104；204) it is further configured to:
Generate the sensor signal first indicates (205a)；And
Generate the sensor signal second indicates (205b), and is configured to indicate that (205b) is forwarded to for described second
The first output interface (210) that can be coupled with the physical layer of communication system.
6. electronic control unit (100 according to claim 5；200), wherein the processing circuit (104；204) quilt is gone back
It is configured to indicate that extracting described first in (205b) indicates (205a) from described second.
7. the electronic control unit (100 according to any one of claim 5 or 6；200), wherein for given time
Sensor signal, the sensor signal second indicate (205b) in the following aspects at least one aspect on have than described
The first of sensor signal indicates (205a) higher resolution ratio:
Angular resolution,
The spatial dimension of covering, and
Relative velocity.
8. one kind can be connected to the gateway circuit (400) of air bag electronic control unit (450), gateway circuit (400) packet
It includes:
Signal input part (402) is configured to environmental sensor (440) receiving sensor signal from vehicle；
First signal output end (408) is configured to indicate (205a) for the first of the sensor signal of the environmental sensor
It is forwarded to air bag electronic control unit (450)；And
Second signal output end (410) is configured to indicate that (205b) is forwarded to communication system for the second of sensor signal
Physical layer.
9. gateway circuit (400) according to claim 8, wherein the gateway circuit (400) is further configured to:
(205a) is indicated based on the first of the sensor signal to determine first condition, and raw in response to the first condition
At activation signal.
10. gateway circuit (400) according to claim 9, wherein the activation signal be in following at least it
One:
For activating the reversible activation signal of reversible safety measure, and
For activating the irreversible activation signal of irreversible safety measure.
11. gateway circuit (400) according to claim 10, wherein the reversible activation signal be configured to cause as
It is at least one of lower:
At least one window of vehicle is closed,
At least one top of car of the vehicle is closed,
At least one safety belt is tensed,
At least one seat is adjusted, and
Inhibit the emergency braking of vehicle.
12. gateway circuit (400) according to claim 10, wherein the irreversible activation signal is configured to cause
Selected from least one of following:
The emergency braking of vehicle, and
Air bag flicks.
13. the gateway circuit according to any one of claim 8 to 12 (400), wherein gateway circuit (400) quilt
It is configured to receive a series of sensor signal as sensor messages at the signal input part.
14. gateway circuit (400) according to claim 13, wherein the gateway circuit (400) is further configured to be based on
It is to belong to the first of the sensor signal to indicate including in single sensor message, the instruction single sensor message
(205a) still falls within the label of the second expression (205b) of the sensor signal to identify the single sensor message.
15. the gateway circuit according to any one of claim 8 to 14 (400), wherein gateway circuit (400) quilt
Be configured to provide the sensor signal according to agreement workable in the communication system second indicates (205b).
16. the gateway circuit according to any one of claim 8 to 15 (400), further includes:
Second signal input terminal (404) is configured to receive other sensor letter from the second environment sensor of the vehicle
Number,
Wherein, the first signal output end (408) of the gateway circuit is further configured to the other sensor signal
First indicates that (405a) is forwarded to the air bag electronic control unit (450)；And
The second signal output end (410) is configured to indicate that (405b) is forwarded to institute for the second of other sensor signal
State the physical layer of communication system.
17. a kind of security system for vehicle, the security system include:
The first environment sensor (600) of the first sensor signal is provided；
The second environment sensor (602) of second sensor signal is provided；Wherein, described the first sensor signal and described second
Sensor signal loosely couples, and the view of the first environment sensor (601) and the second environment sensor (603)
Field at least partly overlaps；
First gateway circuit (606), comprising: the first signal output end is configured to generate first table of the first sensor signal
Show (601)；And second signal output end, it is configured to indicate the second of described the first sensor signal to be forwarded to communication system
The physical layer of system；
Second gateway circuit (608), comprising: the first signal output end is configured to generate the of the second sensor signal
One indicates (603)；And second signal output end, it is configured to indicate the second of the second sensor signal to be forwarded to institute
State the physical layer of communication system；And
Air bag electronic control unit (620), being configured to first based on described the first sensor signal indicates (601), described
The first of second sensor signal indicates that the first of (603) or described the first sensor signal indicates (601) and described second
The first of sensor signal indicates the combination of (603) to identify first condition；And
The air bag electronic control unit (620) is further configured to generate activation signal in response to the first condition.
18. security system according to claim 17, wherein the activation signal is selected from least one of following:
For activating the reversible activation signal of reversible safety measure, and
For activating the irreversible activation signal of irreversible safety measure.
19. security system according to claim 18, wherein the reversible activation signal is configured to cause in following
At least one:
At least one window of vehicle is closed,
At least one top of car of the vehicle is closed,
At least one safety belt of the vehicle is tensed,
At least one seat of the vehicle is adjusted, and
Inhibit the emergency braking of the vehicle.
20. security system according to claim 18, wherein the irreversible activation signal is configured to cause selected from such as
It is at least one of lower:
The emergency braking of the vehicle, and
Air bag flicks.
21. security system described in any one of 7 to 20 according to claim 1, wherein the first of described the first sensor signal
Indicating the first of (601) and the second sensor signal indicates that the combination of (603) is provided in partly overlapping visual field
The estimation of the moving direction of object (650).
22. security system described in any one of 7 to 21 according to claim 1, wherein the of described the first sensor signal
One indicates that the first of (601) and the second sensor indicates to be able to detect after mobile object (650) in (603), is based on
The first of described the first sensor signal indicates that the first of (601) and the second sensor signal indicates institute in one of (603)
The mobile object of identification identifies the first condition.
23. security system described in any one of 7 to 22 according to claim 1, wherein the first environment sensor and described
Second environment sensor is implemented as radar sensor, laser radar sensor or camera sensor.
24. security system described in any one of 7 to 23 according to claim 1, further includes:
Automatic Pilot electronic control unit (660) is configured to receive second expression, second sensor of the first sensor signal
The second of signal indicates or second combination indicated of the first sensor signal and second sensor signal.
25. a kind of environmental sensor element (700) for vehicle, comprising:
Radar or laser radar sensor (702) are configured to generate the sensor signal of covering visual field (704), wherein described
Environmental sensor element (700) is configured to provide the first expression (205a) of the sensor signal, wherein the environment passes
Sensor component is further configured to provide the second expression (205b) of the sensor signal；And
The interface (706) for the environmental sensor element that can be coupled with the physical layer of communication system, the interface (706) is also
Be configured to by the first of the sensor signal indicate (205a), the sensor signal second indicate (205b) or
The first of the sensor signal indicates that the second of (205a) and the sensor signal indicates that both (205b) is exported to described
Physical layer.
26. environmental sensor element according to claim 25, wherein the interface (706) is configured to the biography
The first of sensor signal indicates or second indicates to export as one or more sensor messages.
27. environmental sensor element according to claim 26, wherein for one or more sensor message
In single sensor message, label indicate the single sensor message be the sensor signal first indicate one
Divide second a part indicated of the still sensor signal.
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| CN109278693B (en) | 2022-04-29 |
| US20190023277A1 (en) | 2019-01-24 |
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